Code
MIP: Code implementing frontier-based pursuit evasion is available as part of the Multi-robot-Integration Platform by Antonio Franchi and Paolo Stegagno. Player/Stage: Smooth Nearness Diagram Navigation plugin driver for Player 2.1.x, Version 3.0. The driver has similar functionality to the Player driver "nd", but the navigation behavior is much less jerky and also less prone to getting stuck. This navigation code is what we use for both hardware and simulations, check out performance videos below. With contributions from Luca Invernizzi & Dario Cazzaro, July 2010.My Presentations
2010 Pairwise-optimal Discrete Coverage Control for Gossiping Robots, presented at the 2010 IEEE Conference on Decision and Control, December 15-17, 2010, Atlanta, Georgia. Distributed Pursuit-Evasion with Limited-Visibility Sensors via Frontier-based Exploration, presented at the 2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska. On Distributed Coordination in Robotic Networks: Gossip Coverage and Frontier-based Pursuit, presentation summarizing my main research approach and projects through February, 2010.
2009 Discrete Coverage Control for Gossiping Robots, presented at the 2009 ASME Conference on Dynamic Systems and Control (DSCC 2009), October 12-14, 2009, Hollywood, California.
2008 Player/Stage Tutorial, with Luca Invernizzi and Dario Cazzaro, Fall 2008. Smooth Nearness Diagram Navigation, presented at the 2008 IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS 2008), September 22-26, 2008, Nice, France. k-Center Problems, Graphs, Combinatorics and Convex Optimization Reading Group, Summer 2008. Stochastic Estimation & Probabilistic Robotics, Probabilistic Robotics Reading Group, Spring 2008.
2007 Controlling Canards, presented at 2007 SIAM Conference on Applications of Dynamical Systems, May 28-June 1, 2007, Snowbird, UT.
Presentations by Mentees
2009 Blob Following by Sharice Handa, June 2009, UCSB. Wall Following by Benjamin Domingo, June 2009, UCSB.
2008 Autonomous Mobile Robot Navigation Methods by Christian Bowles, Anthony Linarez, Alexander Torres, and Silviano Torres, from SIMS program, August 2008, UCSB. Autonomous Mobile Robot Navigation Methods by Yunxin Ling, Steven Pease, Dena Shahriari, and Chun Wang, from EPSEM program, July 2008, UCSB.